CN117184380A - Underwater ship weld joint adsorption mobile detection robot - Google Patents
Underwater ship weld joint adsorption mobile detection robot Download PDFInfo
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- CN117184380A CN117184380A CN202311450471.8A CN202311450471A CN117184380A CN 117184380 A CN117184380 A CN 117184380A CN 202311450471 A CN202311450471 A CN 202311450471A CN 117184380 A CN117184380 A CN 117184380A
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- 238000001514 detection method Methods 0.000 title claims abstract description 66
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 18
- 238000004140 cleaning Methods 0.000 claims abstract description 140
- 238000003466 welding Methods 0.000 claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000002347 injection Methods 0.000 claims description 15
- 239000007924 injection Substances 0.000 claims description 15
- 239000000758 substrate Substances 0.000 claims description 14
- 238000005498 polishing Methods 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 23
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Abstract
The invention provides an underwater ship body welding seam adsorption mobile detection robot which solves the problem that in the prior art, a ship body cannot be cleaned and detected manually under water, and comprises a main body, wherein walking support sliding rails are arranged on four sides of the main body, walking wheel plates are arranged in the walking support sliding rails in a sliding manner, walking belt wheels are arranged at two ends of the sides of the walking wheel plates in a rotating manner, a walking belt is arranged between the two walking belt wheels, a walking electromagnet is arranged on the outer side surface of the walking belt, and a magnet on-off assembly is fixedly arranged on the walking wheel plates; the bottom of the main body is provided with a detection cylinder with an opening at the bottom in a sliding way; the top of the main body is rotatably provided with a cleaning component positioned at one side of the main body. The invention can realize the movement of the main body on the outer wall of the ship body, can submerge under water on the outer wall of the ship body to clean the outer wall of the ship body under water and detect welding seams, can realize multidirectional movement on the outer wall of the ship body, and can remotely replace manual work to detect the welding seams of the ship body.
Description
Technical Field
The invention relates to the technical field of underwater hull detection, in particular to an underwater hull weld joint adsorption mobile detection robot.
Background
With the development of world economy, ships develop to large and intelligent, and shipbuilding technologies are continuously innovated, so that shipbuilding efficiency is improved, shipbuilding period is shortened, and shipyards mostly adopt segmented manufacturing and overall welding technologies.
At present, after a ship is used for a certain time, in order to ensure the quality monitoring of the ship, the quality of a welding seam of the ship body needs to be detected, at present, most of the welding seam is checked by using an X-ray flaw detection technology, but the site operation is complicated, the work needs to be completed manually, the ship can be limited by space, unnecessary injury can be caused to personnel at times, particularly, the ship structure or the ship body is huge in section size, the detection range is wide, the detection personnel need to be a scaffold, the detection part frequently collides with the position of the scaffold, part of the scaffold needs to be detached, an X-ray flaw detector is reinstalled, the operator climbs up and down, the operation detection equipment is time-consuming and labor-consuming, and the detection efficiency is low.
Moreover, the welding seam inside the ship body can only be detected through the manual operation, and the welding seam of the ship body outside the ship body and under the water is huge in damage to the welding seam of the ship body due to the absorption erosion of marine organisms such as barnacles and the like received all the year round, so that the welding seam of the ship bottom needs to be detected regularly and the absorbed marine organisms need to be cleaned, but because the ship body is large and most of the welding seam is under the water, the welding seam cannot be cleaned and detected manually, the ship needs to be cleaned after the whole ship is moved out of the water surface, and the engineering quantity is huge.
Aiming at the defects in the prior art, the invention provides an underwater ship welding seam adsorption mobile detection robot, which is used for solving the problems that in the prior art, welding seams at the bottom of a ship need to be detected regularly and adsorbed marine organisms need to be cleaned, but because the ship is large and most of the ship is underwater, cleaning and detection cannot be carried out manually, the ship needs to be cleaned after the whole ship is moved out of the water surface, and the engineering quantity is huge.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects in the prior art, the invention provides an underwater ship welding line adsorption mobile detection robot, which solves the problems in the background art.
The utility model provides a portable detection robot of hull welding seam absorption under water, includes the main part that is the rectangle, all fixed mounting has inside cavity and keep away from the walking support slide rail of one side of main part on four sides of main part, every the inside of walking support slide rail is all installed the walking wheel board that slides from top to bottom, every the walking wheel board is all rotated towards the both ends of a side of walking support slide rail opening and is installed the walking shaft, every on the walking shaft all coaxial fixed mounting have the walking band pulley, every install the walking belt between two walking band pulleys on the walking wheel board, every install a plurality of walking electro-magnet on-off subassembly on the lateral surface of walking belt, every on the walking wheel board all fixed mounting has the walking switching subassembly, the internally mounted of main part can make two walking wheel boards that are symmetrical each other slide from top to bottom simultaneously;
the bottom of the main body is provided with a detection cylinder with an opening at the bottom in a sliding manner, the bottom of the detection cylinder is provided with a sealing layer, and a detector, an air supply pipe and an air pressure sensor are fixedly arranged in the detection cylinder;
the top of the main body is rotatably provided with a cleaning component positioned at one side of the main body.
Preferably, the magnet on-off assembly comprises a plate electrode support which is fixedly installed on one side surface of a walking wheel plate, which faces to a walking support sliding rail opening, is L-shaped, each plate electrode support is fixedly connected with a plate electrode at the bottom end, two electrode plates are installed on the bottom surface of a motor plate, the bottom surfaces of the two electrode plates are attached to the inner side surface of the bottom of a walking belt, an on-off sliding groove is penetrated between the inner side surface of the walking belt and a plurality of walking electromagnets, each on-off sliding groove is internally and slidably provided with an insulating sliding plate, each on-off sliding plate is penetrated and fixedly provided with two electrode pins, each on-off sliding groove is internally and fixedly provided with a magnet contact electrically connected with the walking electromagnet, and an insulating plate spring is connected between the insulating sliding plate and the on-off sliding groove.
Preferably, the bottom surface of the walking wheel plate is provided with an electrode movable contact, the electrode movable contact is electrically connected with the two electrode plates, the bottom surface inside the walking support sliding rail is fixedly provided with an electrode fixed contact, and both ends of the electrode plate are arc-shaped.
Preferably, the walking switching assembly comprises a walking switching chute penetrating through the top of each walking supporting sliding rail, each walking switching chute is internally provided with a walking switching sliding block fixedly connected with the top of a corresponding walking wheel plate in a sliding manner up and down, each walking switching chute penetrates through the two vertical side surfaces of the walking sliding block and the main body, one end, close to the main body, of the walking switching chute is at a low end, a walking switching circular groove is formed in the top of the main body, a walking switching square hole penetrates through the walking switching circular groove and four side surfaces of the main body, each walking switching square rod is internally provided with a walking switching square rod in a sliding manner, one end, close to the walking switching sliding block, of each walking switching square rod is provided with a switching pin groove, each walking switching pin penetrating through the corresponding walking switching chute is fixedly arranged between the two side surfaces of the switching pin groove, and a walking wheel plate pressure spring is fixedly arranged between the bottom of the walking wheel plate and the bottom surface inside the walking supporting sliding rails.
Preferably, the middle part fixed mounting of walking switching circular slot has the spring holder that is the rectangle, four sides of spring holder are all fixed mounting and are switched the extension spring, every the other end of switching the extension spring all is located the inside one end fixed connection of walking switching circular slot with the switching square pole that is located same side correspondence.
Preferably, the walking switching circular groove is coaxially and rotatably provided with a walking switching disc, the outer side surface of the walking switching disc is fixedly provided with two switching arc blocks which are symmetrical in axial position of the walking switching disc, and one end of each walking switching square rod, which is positioned in the walking switching circular groove, is provided with a round angle.
Preferably, the top of the main body is rotatably provided with a cleaning rotary drum with an opening at the bottom, the outer side surface of the cleaning rotary drum is fixedly provided with a cleaning rotary arm, the other end of the cleaning rotary arm extends to the outer side of a walking belt positioned at one side of the main body, the bottom of the cleaning rotary arm is fixedly provided with a cleaning telescopic arm, the bottom end of the cleaning telescopic arm is fixedly connected with a cleaning substrate with an L-shaped cross section, and the cleaning assembly is arranged in the cleaning substrate;
the automatic cleaning device is characterized in that a switching rotating assembly is connected between the cleaning rotating drum and the walking switching disc, an observation camera is mounted at the top of the cleaning rotating arm, and a traction ring is rotatably mounted at the top of the cleaning rotating drum.
Preferably, the cleaning assembly comprises two cleaning rotating shafts rotatably mounted on one side surface of the cleaning substrate in the vertical direction, a plurality of cleaning chain wheels are fixedly mounted on the two cleaning rotating shafts, the diameters of the cleaning chain wheels are sequentially increased from front to back, cleaning chains are connected between the cleaning chain wheels with the same diameters, and cleaning blades are fixedly mounted on the outer side surface of each cleaning chain;
the two cleaning rotating shafts are fixedly provided with polishing driving wheels positioned at the rear sides of the plurality of cleaning chain wheels, polishing belts are arranged between the two polishing driving wheels, and the cleaning substrate is fixedly provided with a cleaning motor connected with one of the cleaning rotating shafts;
the cleaning device is characterized in that an L-shaped air injection support is fixedly arranged on the rear side face of the cleaning substrate, an air injection pipe is fixedly arranged at the bottom of the air injection support, and a plurality of air nozzles facing the bottom of the polishing belt are arranged on the air injection pipe.
Preferably, the switching rotating assembly comprises a fixed gear ring fixedly arranged at the top of the main body and positioned at the inner side of the cleaning rotating cylinder, a rotating motor is fixedly arranged on the top surface inside the cleaning rotating cylinder, and a rotating gear meshed with the fixed gear ring is fixedly arranged on a rotating shaft of the rotating motor;
the switching gear ring meshed with the rotary gear is rotatably arranged at the opening of the walking switching circular groove, a switching cross plate is fixedly arranged on the inner side face of the switching gear ring, a switching driving rod is fixedly arranged in the middle of the bottom face of the switching cross plate, the bottom end of the switching driving rod is fixedly connected with the top of the walking switching disc coaxially, and four induction switches which correspond to the directions of the four side faces of the main body respectively and are located on the circular motion track of the rotary gear are fixedly arranged on the top face of the main body.
Preferably, the bottom of main part is opened there is the detection spout, the detection section of thick bamboo slidable mounting is in detecting the spout from top to bottom, it has the detection expansion tank to detect the top of spout, detect the expansion tank in install the detection telescopic link, detect the flexible end of telescopic link and detect the top fixed connection of section of thick bamboo.
The beneficial effects of the invention are as follows:
1. the two groups of traveling wheel plates are switched by the traveling switching assembly, so that the main body can move in four directions of front, back, left and right on the outer wall of the ship body, and can replace manual movement on the outer wall of the ship body and submerge in water for detection; when the main part moves under water on the hull outer wall, the detection box then moves along the hull outer wall, and the sealing layer can prevent that the inside water inflow of detection box from influencing the detection, and the detector adopts current detecting instrument, if: the X-ray flaw detector can remotely control and observe the detection result.
2. The air supply pipe is connected with the air pump, after detecting section of thick bamboo and hull outer wall are sealed, accessible air pump and air supply pipe pump air to detecting the inside pump of section of thick bamboo, make the inside atmospheric pressure of detecting the section of thick bamboo reach and keep certain numerical value, the air pressure sensor is to the continuous monitoring of atmospheric pressure, when detecting the section of thick bamboo and being followed the hull outer wall and remove, if the welding seam is good, then its inside atmospheric pressure is unchangeable, if detect the section of thick bamboo and remove when the welding seam fracture department, its inside a small amount of air then runs into the gap, make detect the inside atmospheric pressure of section of thick bamboo and descend, thereby the air pressure sensor then can detect the change of its inside atmospheric pressure remote warning control personnel, it can the detector cooperation use, detection accuracy has been increased.
3. The cleaning component is located the front side of the advancing direction of main part, can clear up the marine organism such as barnacle that adheres to on the outer wall of the hull under water in the main part advancing direction to clear up, thereby expose the hull outward appearance, so that walking electromagnet can adsorb smoothly on the hull and realize removing, and detect the section of thick bamboo and can seal the laminating and detect.
4. The device can realize the movement of the main body on the outer wall of the ship body, can submerge underwater on the outer wall of the ship body to clean the outer wall of the ship body under water and detect welding seams, can realize multidirectional movement on the outer wall of the ship body, can remotely replace manual work to detect the welding seams of the ship body, and avoids the operation of cleaning and detecting the whole ship moving out of the water surface.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic left-hand view of the present invention.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is an enlarged view of the invention at A-A in fig. 2.
Fig. 5 is an enlarged view of the invention at B-B in fig. 3.
Fig. 6 is an enlarged view of the invention at C-C in fig. 2.
Fig. 7 is an enlarged view of the invention at D in fig. 5.
Fig. 8 is an enlarged view of fig. 5 at E in accordance with the present invention.
FIG. 9 is a schematic top view of the invention with the cleaning bowl removed.
Fig. 10 is an enlarged view of the invention at F in fig. 5.
Fig. 11 is an enlarged view of the present invention at G in fig. 6.
Fig. 12 is an enlarged view of the invention at H in fig. 1.
FIG. 13 is a schematic cross-sectional view of a cleaning assembly of the present invention.
Description of the embodiments
The foregoing and other features, aspects and advantages of the present invention will become more apparent from the following detailed description of the embodiments with reference to the accompanying drawings, 1-13. The following embodiments are described in detail with reference to the drawings.
Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
The first embodiment of the invention is an underwater ship body welding seam adsorption mobile detection robot, which comprises a rectangular main body 1, wherein a remote control terminal is installed on the main body 1 so as to enable an operator to remotely control, a walking support sliding rail 2 with an opening at one side which is hollow inside and far away from the main body 1 is fixedly installed on four sides of the main body 1, a walking wheel plate 3 is vertically and slidably installed in each walking support sliding rail 2, a walking wheel shaft 4 is rotatably installed at two ends of one side, facing the opening of the walking support sliding rail 2, of each walking wheel plate 3, a walking wheel shaft 5 is coaxially and fixedly installed on each walking wheel shaft 4, a walking motor connected with one of the walking wheel shafts 4 is installed on each walking wheel plate 3, a power supply and a controller are remotely connected with each walking motor, a walking belt 6 is installed between two walking wheel shafts 5 on each walking wheel plate 3, a plurality of walking electromagnets 7 are installed on the outer side of each walking belt 6, and a magnet assembly 8 is fixedly installed on each walking wheel plate 3.
As shown in fig. 2, when in use, two travelling wheel plates 3 positioned at the left and right sides of the main body 1 slide downwards in two corresponding supporting slide rails 2, so that two travelling belt wheels 5 and travelling belts 6 can be driven to slide downwards, the bottom surfaces of the two travelling belts 6 are lower than the bottom surfaces of the main body 1, when the main body 1 is placed on the outer wall of a ship body, the two travelling belts 6 are attached to the ship body 1, then the travelling electromagnets 7 on the two travelling belts 6 can be electrified through the magnet on-off assembly 8, so that the main body 1 can be adsorbed on the ship body, the main body 1 can realize the effect of moving outside the ship body when the travelling belt wheels 5 rotate, and the main body 1 can move to the outer wall of the ship body positioned under water.
The internally mounted of main part 1 has walking switching component 9, walking switching component 9 can make with two walking wheel boards 3 that main part 1 each other are symmetrical slide from top to bottom simultaneously, namely: when the traveling wheel plates 3 on the left side and the right side of the main body 1 are driven to move downwards through the traveling switching assembly 9, the traveling wheel plates 3 on the front side and the rear side of the main body 1 do not slide downwards at the moment, when the traveling wheel plates 3 on the front side and the rear side of the main body 1 are driven to move downwards through the traveling switching assembly 9, the traveling wheel plates 3 on the left side and the right side of the main body 1 do not slide downwards at the moment, so that only two traveling wheel plates 3 which are symmetrical to each other slide downwards, the corresponding two traveling belts 6 are adsorbed on the outer wall of the ship body to move, and the traveling wheel plates 3 of the two groups are switched through the traveling switching assembly 9, so that the movement of the main body 1 in four directions of the front side, the rear side and the left side on the outer wall of the ship body can be realized, and the detection can be performed by replacing manual work to move on the outer wall of the ship body and submerge under water.
In addition, since the main body 1 is rectangular in shape and has four sides, four traveling support rails 2 are provided so that the main body 1 can be moved in four directions, and in a specific embodiment, the main body 1 can be configured to have an octagonal shape having four sides in four directions, namely, four sides in the front-back-left-right direction, and four inclined sides, and traveling belts 6 are provided on the four inclined sides, so that the main body 1 can be moved in eight directions.
The bottom of main part 1 slidable mounting from top to bottom has bottom open-ended detection section of thick bamboo 10, sealing layer 11 is installed to the bottom of detection section of thick bamboo 10, the inside fixed mounting of detection section of thick bamboo 10 has detector 12, air supply pipe 13 and air pressure sensor 14, when using, adsorb main part 1 on the hull outer wall through walking electro-magnet 7 after, can slide the detection section of thick bamboo 10 to the direction of hull outer wall, make the sealing layer 11 of its bottom closely laminate with the hull outer wall, when main part 1 moves under water on the hull outer wall, then the removal of hull outer wall is followed to detection box 10, sealing layer 11 can prevent that the inside water influence of detection box from detecting, detector 12 adopts current detecting instrument, for example: the X-ray flaw detector can remotely control and observe the detection result.
The air supply pipe 13 is connected with the air pump, after detecting section of thick bamboo 10 and hull outer wall are sealed, accessible air pump and air supply pipe 13 pump air to detecting section of thick bamboo 10 inside, make the inside atmospheric pressure of detecting section of thick bamboo 10 reach and keep certain numerical value, the atmospheric pressure sensor 14 is to the continuous monitoring of atmospheric pressure, when detecting section of thick bamboo 10 and moving along the hull outer wall, if the welding seam is good, then its inside atmospheric pressure is unchangeable, if detecting section of thick bamboo 10 moves to welding seam fracture department, its inside a small amount of air then runs into the gap, make detecting section of thick bamboo 10 inside atmospheric pressure drop, thereby the atmospheric pressure sensor 14 then can detect the change of its inside atmospheric pressure and thereby remote warning control personnel, it can detector 12 cooperation use, the detection accuracy has been increased.
The top of the main body 1 is rotatably provided with a cleaning assembly 24 at one side thereof, and the cleaning assembly 24 is positioned at the front side of the advancing direction of the main body 1, for example: when the main body 1 moves forward, the cleaning assembly 24 can be rotated to the front side of the main body 1, if the main body 1 moves to the left side, the cleaning assembly 24 can be rotated to the left side, so that the cleaning assembly 24 can clean marine organisms such as barnacles, oysters and the like attached to the outer wall of the underwater ship body in the advancing direction of the main body 1, and the ship body appearance is exposed, so that the walking electromagnet 7 can be smoothly adsorbed on the ship body and can move, and the detection cylinder 10 can be sealed and attached for detection.
Through the structure, the main body 1 can move on the outer wall of the ship body, the outer wall of the ship body can be cleaned and welded under water by submerging in the outer wall of the ship body, multidirectional movement can be realized on the outer wall of the ship body, manual detection on the welded of the ship body can be remotely replaced, and the operation of cleaning and detecting the whole ship moving out of the water surface is avoided.
In the second embodiment, as shown in fig. 6, the magnet on-off assembly 8 includes an L-shaped electrode plate bracket 15 fixedly installed on a side surface of each traveling wheel plate 3 facing the opening of the traveling support sliding rail 2, the bottom end of each electrode plate bracket 15 is fixedly connected with an electrode plate 16, two electrode plates are installed on the bottom surface of the motor plate 16, the bottom surfaces of the two electrode plates are always attached to the inner side surface of the bottom of the traveling belt 6, the two electrode plates are connected with a positive electrode and a negative electrode of a power supply, an on-off sliding groove 18 penetrates through between the inner side surface of the traveling belt 6 and the traveling electromagnets 7, an insulating sliding plate 19 is slidably installed in each on-off sliding groove 18, two electrode pins 20 penetrate through each insulating sliding plate 19 and are fixedly installed on the insulating sliding plate, the electrode pins 20 are made of a non-insulating material, two magnet contacts 01 electrically connected with the traveling electromagnets 17 are installed in each on the on-off sliding groove 18, an insulating plate 21 is connected between the insulating sliding plate 19 and the on-off sliding groove 18, the electrode pins 20 and the magnet contacts 01 are coated with a waterproof material so that the waterproof material on the hull body 1 can avoid the occurrence of a short circuit, and other faults are avoided, and the other moving under water are easy;
when the travelling belt 6 rotates, the two electrode pins 20 on the insulating slide plate 19 which moves to one end of the electrode plate 16 are extruded into the on-off chute 18 by the electrode plate 16, so that the two electrode pins 20 are in contact with the two magnet contacts 01 and compress the insulating plate springs 21, and one section of the two electrode pins 20 is electrically connected with the two electrode plates at the bottom of the electrode plate 16 respectively, so that the plurality of travelling electromagnets 7 which move to the lower part of the electrode plate 16 are electrified to generate magnetism, the main body 1 is adsorbed on the outer wall of the ship body, the travelling electromagnets 7 which are not communicated with the electrode plate 16 are not magnetized, and when the main body 1 moves on the outer wall of the ship body, the travelling electromagnet 7 loses magnetism when moving to the other end of the electrode pin along the electrode plate 16 and is separated from the electrode pin, and the travelling electromagnet 7 can be smoothly separated from the outer wall of the ship body, so that the situation that if a permanent magnet is used as an adsorption material, the magnetism of the travelling electromagnet always floats on the outer wall of the ship body 6 can not normally rotate is avoided.
In the third embodiment, on the basis of the second embodiment, the bottom surface of the running wheel plate 3 is provided with the electrode moving contacts 22, the electrode moving contacts 22 are electrically connected with two electrode plates, the bottom surface inside the running support sliding rail 2 is fixedly provided with the electrode fixed contacts 23, the electrode fixed contacts 23 are remotely connected with a power supply and a controller, when the running wheel plate 3 slides downwards in the running support sliding rail 2, the two electrode moving contacts 22 are in contact with the corresponding electrode fixed contacts 23 and are together with the corresponding electrode fixed contacts 23, so that the electrode plates 16 on the two running wheel plates 3 are electrified, the effect that the main body 1 moves on the outer wall of the ship body is achieved, the electrode moving contacts 22 on the other two running wheel plates 3 which do not move downwards are not communicated, the electrode plates 16 on the two running wheel plates 3 are not electrified, both ends of the electrode plates 16 are arc-shaped, and as shown in fig. 11, and both ends of the electrode plates 6 are arc-shaped, so that the insulating sliding plate 19 can be smoothly extruded into the on-off sliding groove 18.
In a fourth embodiment, as shown in fig. 7, the walking switching assembly 9 includes a walking switching chute 25 penetrating through the top of each walking supporting rail 2, a walking switching slide block 26 fixedly connected to the top of the corresponding walking wheel plate 3 is slidably installed in each walking switching chute 25, the walking switching slide block 26 can drive the walking wheel plate 3 to slide up and down in the walking supporting rail 2 when sliding up and down in the walking switching chute 25, a walking switching chute 27 penetrates between two vertical sides of each walking slide block 26 and the main body 1, one end of the walking switching chute 27 close to the main body 1 is a low end, a walking switching circular groove 28 is opened at the top of the main body 1, a walking switching square hole 29 penetrates between the walking switching circular groove 28 and four sides of the main body 1, a traveling switch square rod 30 is slidably mounted in each traveling switch square hole 29, a switch pin slot 31 is formed at one end of each traveling switch square rod 30, which is close to the traveling switch slide block 26, a traveling switch pin 32 penetrating through the corresponding traveling switch chute 27 is fixedly mounted between two side surfaces of each switch pin slot 31, a traveling wheel plate pressure spring 37 is fixedly mounted between the bottom of each traveling wheel plate 3 and the bottom surface inside the traveling support slide rail 2, when in use, two traveling switch square rods 30 which are symmetrical to each other can slide towards the side surface direction of the main body 1 at the same time, so that the two traveling switch pins 32 can squeeze the traveling switch chute 27 and drive the two traveling switch slide blocks 26 to move downwards, thereby realizing the downward movement effect of the two corresponding traveling wheel plates 3, and simultaneously compressing the traveling wheel plate pressure springs 37 below the traveling switch pin 32, when the two traveling switch square rods 30 slide and reset to the traveling switch round groove 28, the wanted traveling switch slide block 26 can be driven to move upwards, and the traveling wheel plate pressure springs 37 provide upward elastic force to cooperate with the traveling wheel plates 3 to slide and reset upwards, and the traveling wheel plates 3 are also limited to slide downwards by themselves when not in use.
In the fifth embodiment, on the basis of the fourth embodiment, a rectangular spring seat 33 is fixedly installed in the middle of the travel switch round groove 28, switch tension springs 34 are fixedly installed on four sides of the spring seat 33, the other end of each switch tension spring 34 is fixedly connected with one end, located inside the travel switch round groove 28, of the corresponding switch square rod 30 located on the same side, the travel switch square rod 30 can slide in the direction of the outer side face of the main body 1 under the driving of the subsequent structure, meanwhile, the switch tension springs 34 are lengthened, and when the travel switch square rod 30 needs to slide in the travel switch round groove 28 for resetting, the switch tension springs 34 drive the travel switch square rod to slide for resetting.
In the sixth embodiment, as shown in fig. 9, a travel switch disc 35 is coaxially rotatably mounted in the travel switch circular groove 28, two switch arc blocks 36 symmetrical with each other about the axis of the travel switch disc 35 are fixedly mounted on the outer side surface of the travel switch disc 35, and each of the ends of the travel switch square rods 30 inside the travel switch circular groove 28 has a rounded corner, when two symmetrical travel belts 6 are required to be adsorbed on the outer wall of the ship body, the travel switch disc 35 can be rotated, so that the two switch arc blocks 36 move to the positions of the corresponding two travel switch square rods 30, and the two travel switch square rods 30 are extruded outwards, so that the two travel wheel plates 3 slide in the corresponding travel support sliding rails, and the two travel belts 6 are adsorbed on the outer wall of the ship body, when the moving direction of the main body 1 needs to be changed, the travel switch disc 35 can be rotated by 90 °, so that the two travel switch square rods 30 reset under the elasticity of the switch tension springs 34, and simultaneously, the two outer two travel square rods 30 are extruded by the two switch blocks 36 to enable the two travel belts to be extruded outwards on the outer wall of the ship body 1, so that the two travel belts 6 are extruded outwards to change the moving direction of the main body 1.
In the seventh embodiment, on the basis of the sixth embodiment, a cleaning rotary drum 38 with an opening at the bottom is rotatably installed at the top of the main body 1, a cleaning rotary arm 39 is fixedly installed on the outer side surface of the cleaning rotary drum 38, the other end of the cleaning rotary arm 39 extends to the outer side of the travelling belt 6 positioned at one side of the main body 1, a cleaning telescopic arm 40 is fixedly installed at the bottom, a cleaning substrate 41 with an L-shaped cross section is fixedly connected to the bottom of the cleaning telescopic arm 40, and the cleaning assembly 24 is installed in the cleaning substrate 41;
the cleaning rotary drum 38 can drive the cleaning rotary arm 39 to move circumferentially when rotating, so as to drive the cleaning assembly 24 to move to one side of the main body 1, clean attachments on the surface of the ship body on the front side of the main body 1 in the advancing direction, and enable the cleaning assembly 24 to be close to or far away from the outer wall of the ship body through the extension and retraction of the cleaning telescopic arm 40;
the switching rotating assembly is connected between the cleaning rotating drum 38 and the walking switching disc 35, so that when the cleaning rotating drum 38 rotates to adjust the direction of the cleaning assembly 24, the walking switching disc 35 synchronously rotates to adjust the positions of the two groups of walking wheel plates 3, the advancing direction of the main body 1 is adjusted at the same time, so that the main body 1 always keeps the aim of taking the direction of the cleaning assembly 24 as the advancing direction, the observing camera 64 is arranged at the top of the cleaning rotating arm 39, an operator can observe the moving direction of the main body 1 and the condition of the outer wall of the ship body through the observing camera 64 when the main body 1 advances, the top of the cleaning rotating drum 38 rotates to be provided with the traction ring 65, the traction ring 65 is connected with a traction rope, the other end of the traction rope is connected to be worn by the operator and is wound in parallel with a cable wire, and the traction rope is convenient for supplying power to and remotely controlling internal electrical elements of the main body 1.
In an eighth embodiment, based on the seventh embodiment, the cleaning assembly 24 includes two cleaning shafts 44 rotatably mounted on a side surface of the cleaning substrate 41 in a vertical direction, a plurality of cleaning sprockets 45 are fixedly mounted on the two cleaning shafts 44, diameters of the cleaning sprockets 45 are sequentially increased from front to back, a cleaning chain 46 is connected between every two cleaning sprockets 45 with the same diameter, and a cleaning blade 47 is fixedly mounted on an outer side surface of each cleaning chain 46;
when the main body 1 advances, the cleaning rotating shafts 44 can drive the cleaning chains 46 to rotate when rotating, the cleaning chains 46 can smash and clean attachments on the outer wall of the underwater ship body through the cleaning blades 47 when rotating, so that the outer surface of the ship body is exposed, the adsorption of the travelling electromagnet 7 is facilitated, the detection cylinder 10 and the sealing and attaching of the outer wall of the ship body are facilitated, the diameters of the cleaning chain wheels 45 are sequentially increased, the cleaning chains 46 connected between the cleaning chain wheels 45 with the smallest diameters can smash the attachments gradually from the top of the cleaning chain wheels when encountering the attachments, the situation that the roots of the attachments cannot be cut off at one time due to the fact that the attachments are too high and the cleaning chains 46 are all arranged to be attached to the outer wall of the ship body is avoided;
the two cleaning rotating shafts 44 are fixedly provided with polishing driving wheels 48 positioned at the rear sides of the plurality of cleaning chain wheels 45, polishing belts 49 are arranged between the two polishing driving wheels 48, the cleaning base plate 41 is fixedly provided with a cleaning motor 50 connected with one of the cleaning rotating shafts 44, the cleaning motor 50 is remotely connected with a power supply and a controller, and when the cleaning motor is started, one of the cleaning rotating shafts 44 can be regulated to rotate, so that the plurality of cleaning chains 46 are driven to rotate for cleaning, and meanwhile, the outer wall of a cleaned ship body can be polished when the polishing belts 49 rotate, residues are removed, and the outer surface of the ship body is completely exposed;
the rear side of the cleaning substrate 41 is fixedly provided with an L-shaped air injection support 51, the bottom of the air injection support 51 is fixedly provided with an air injection pipe 52, a plurality of air nozzles 53 facing the bottom of the polishing belt 49 are arranged on the air injection pipe 52, the air injection pipe 52 is remotely connected with an air pump, the air pump is connected with the air injection pipe 52 through an air pipe wound together with a traction rope to supply air, and the air injection pipe 52 can spray air flow to the cleaning assembly 24 through the air nozzles 53, so that water flow is driven to blow away broken attachment fragments in the cleaning process, and the broken attachment fragments are far away from the outer wall of the ship body in the advancing direction of the main body 1.
In a ninth embodiment, on the basis of the seventh embodiment, the switching rotating assembly includes a fixed gear ring 54 fixedly installed on the top of the main body 1 and located inside the cleaning rotating cylinder 38, a rotating motor 55 is fixedly installed on the top surface inside the cleaning rotating cylinder 38, the rotating motor 55 is remotely connected with a power supply and a controller, a rotating gear 56 meshed with the fixed gear ring 54 is fixedly installed on a rotating shaft of the rotating motor 55, the rotating gear 56 is driven to rotate when the rotating motor 55 is started, and the rotating gear 56 can move along the circumference of the fixed gear ring 54 when rotating and drive the cleaning rotating cylinder 38 to rotate on the top of the main body 1, so that the direction of the cleaning assembly 24 is adjusted;
the opening of the walking switching circular groove 28 is rotatably provided with a switching gear ring 57 meshed with the rotating gear 56, when the rotating gear 56 rotates and moves along the circumferential direction of the fixed gear ring 54, the switching gear ring 57 can be simultaneously driven to rotate in the same direction as the cleaning rotating drum 38, the inner side surface of the switching gear ring 57 is fixedly provided with a switching cross plate 58, the middle part of the bottom surface of the switching cross plate 58 is fixedly provided with a switching driving rod 59, the bottom end of the switching driving rod 59 is fixedly connected with the top of the walking switching disc 35 in a coaxial manner, as shown in fig. 9, when the rotating gear 56 rotates clockwise, the rotating gear 56 can move along the circumferential direction of the fixed gear ring 54 in a anticlockwise manner, so that the cleaning rotating drum 38 is driven to rotate anticlockwise, and when the rotating gear 56 rotates and moves anticlockwise, the switching gear ring 57 can be simultaneously driven to rotate anticlockwise, the switching cross plate 58 is driven to rotate anticlockwise, the switching driving rod 59 drives the walking switching disc 35 to rotate anticlockwise, extrusion adjustment of two groups of walking switching square bars 30 is realized, and the cleaning assembly 24 and the direction adjustment of the two groups of forward direction adjustment of the walking belt are simultaneously regulated 6;
four induction switches 60 which are respectively corresponding to the directions of four side surfaces of the main body 1 and are positioned on the circular motion track of the rotary gear 56 are fixedly arranged on the top surface of the main body 1, the induction switches 60 are remotely connected with a controller, when the rotary gear 56 moves by 90 degrees, the induction switches 60 can move to one of the induction switches 60, signals are sent to the controller by the induction switches 60, the rotary motor 55 stops rotating, at the moment, the cleaning assembly 24 adjusts by 90 degrees, and if the angle of the cleaning assembly 24 is still to be continuously adjusted, the rotary motor 55 is started again, so that the rotary gear 56 moves by 90 degrees to the next induction switch 60.
Embodiment ten, on the basis of embodiment one, open the bottom of main part 1 has the detection spout 61, detect a section of thick bamboo 10 from top to bottom slidable mounting in detecting spout 61, detect the top of spout 61 and open and detect flexible groove 62, detect and install in the flexible groove 62 and detect telescopic link 63, detect telescopic link 63 and adopt electric telescopic link, detect the flexible end of telescopic link 63 and the top fixed connection of detecting a section of thick bamboo 10, can start the extension of the flexible end of detecting telescopic link 63 when using to drive and detect a section of thick bamboo 10 and follow and slide out in detecting spout 61 and seal the laminating with the hull outer wall, detect the flexible end of telescopic link 63 and retract after the use, drive detect a section of thick bamboo 10 and remove to detect in spout 61 can.
Claims (10)
1. The utility model provides a portable detection robot of hull welding seam absorption under water, includes main part (1) that is the rectangle, its characterized in that, all fixed mounting has inside cavity and keep away from one side of main part (1) on four sides of main part (1) and be open-ended walking support slide rail (2), every the inside of walking support slide rail (2) is all installed walking wheel board (3) from top to bottom in sliding mode, every walking wheel board (3) are all installed walking shaft (4) towards the both ends of the open-ended side of walking support slide rail (2) rotation, every on the walking shaft (4) all coaxial fixed mounting have walking band pulley (5), all install walking belt (6) between two walking band pulley (5) on every walking wheel board (3), all install a plurality of walking electro-magnet (7) on the lateral surface of every walking belt (6), all fixed mounting has magnet break-make subassembly (8) on every walking wheel board (3), internally mounted of main part (1) has walking switching component (9), walking switching component (9) can make two mutual sliding plates (3) simultaneously on each other;
the bottom of the main body (1) is provided with a detection cylinder (10) with an opening at the bottom in a sliding manner, the bottom of the detection cylinder (10) is provided with a sealing layer (11), and a detector (12), an air supply pipe (13) and an air pressure sensor (14) are fixedly arranged in the detection cylinder (10);
the top of the main body (1) is rotatably provided with a cleaning assembly (24) at one side thereof.
2. The underwater hull weld joint adsorption mobile detection robot according to claim 1, wherein the magnet on-off assembly (8) comprises an L-shaped electrode plate bracket (15) fixedly installed on one side surface of an opening of each walking wheel plate (3) facing a walking support sliding rail (2), an electrode plate (16) is fixedly connected to the bottom end of each electrode plate bracket (15), two electrode plates are installed on the bottom surface of each electrode plate (16), the bottom surfaces of the two electrode plates are attached to the inner side surface of the bottom of each walking belt (6), an on-off sliding groove (18) is penetrated between the inner side surface of each walking belt (6) and a plurality of walking electromagnets (7), an insulating sliding plate (19) is installed in each on-off sliding groove (18), two electrode pins (20) are penetrated and fixedly installed on each insulating sliding plate (19), two magnet contacts (01) electrically connected with the corresponding walking electromagnets (17) are installed in each on-off sliding groove (18), and a spring (21) is connected between the insulating sliding plate (19) and the corresponding insulating sliding groove (18).
3. The underwater hull weld joint adsorption mobile detection robot according to claim 2, wherein an electrode movable contact (22) is mounted on the bottom surface of the walking wheel plate (3), the electrode movable contact (22) is electrically connected with two electrode plates, an electrode fixed contact (23) is fixedly mounted on the bottom surface inside the walking support sliding rail (2), and both ends of the electrode plate (16) are in an upward-bending arc shape.
4. The underwater hull weld joint adsorption mobile detection robot according to claim 1, wherein the walking switching assembly (9) comprises walking switching sliding grooves (25) penetrating through the top of each walking supporting sliding rail (2), walking switching sliding blocks (26) fixedly connected with the tops of corresponding walking wheel plates (3) are arranged in each walking switching sliding groove (25) in a sliding manner up and down, walking switching chute (27) penetrating through the two sides of each walking sliding block (26) perpendicular to the main body (1), one end of each walking switching chute (27) close to the main body (1) is a low end, walking switching round grooves (28) penetrating through the four sides of each walking switching round grooves (28) and the main body (1), walking switching square rods (30) are arranged in each walking switching square holes (29) in a sliding manner, switching pin grooves (31) are formed in one end of each walking switching square rod (30) close to the corresponding walking switching square rods (26), walking pin grooves (32) penetrating through the corresponding switching pin grooves (31) are formed in the two sides of each walking switching round grooves (31), a traveling wheel plate pressure spring (37) is fixedly arranged between the bottom of each traveling wheel plate (3) and the bottom surface inside the traveling support sliding rail (2).
5. The underwater hull weld joint adsorption mobile detection robot according to claim 4, wherein a rectangular spring seat (33) is fixedly installed in the middle of the walking switching round groove (28), switching tension springs (34) are fixedly installed on four sides of the spring seat (33), and the other end of each switching tension spring (34) is fixedly connected with one end, located in the walking switching round groove (28), of a corresponding switching square rod (30) located on the same side.
6. The underwater hull weld joint adsorption mobile detection robot according to claim 5, wherein a walking switching disc (35) is coaxially and rotatably installed in the walking switching round groove (28), two switching arc blocks (36) symmetrical in axial position of the walking switching disc (35) are fixedly installed on the outer side face of the walking switching disc (35), and one end of each walking switching square rod (30) located in the walking switching round groove (28) is provided with a round angle.
7. The underwater hull weld adsorption mobile detection robot according to claim 6, wherein a cleaning rotary drum (38) with an opening at the bottom is rotatably installed at the top of the main body (1), a cleaning rotary arm (39) is fixedly installed on the outer side surface of the cleaning rotary drum (38), the other end of the cleaning rotary arm (39) extends to the outer side of a travelling belt (6) positioned at one side of the main body (1), a cleaning telescopic arm (40) is fixedly installed at the bottom, a cleaning substrate (41) with an L-shaped cross section is fixedly connected at the bottom end of the cleaning telescopic arm (40), and the cleaning assembly (24) is installed in the cleaning substrate (41);
the automatic cleaning device is characterized in that a switching rotating assembly is connected between the cleaning rotating cylinder (38) and the walking switching disc (35), an observation camera (64) is mounted at the top of the cleaning rotating arm (39), and a traction ring (65) is rotatably mounted at the top of the cleaning rotating cylinder (38).
8. The underwater hull weld joint adsorption mobile detection robot according to claim 7, wherein the cleaning assembly (24) comprises two cleaning rotating shafts (44) rotatably mounted on one side surface of the cleaning substrate (41) in a vertical direction, a plurality of cleaning chain wheels (45) are fixedly mounted on the two cleaning rotating shafts (44), the diameters of the cleaning chain wheels (45) are sequentially increased from front to back, a cleaning chain (46) is connected between every two cleaning chain wheels (45) with the same diameter, and a cleaning blade (47) is fixedly mounted on the outer side surface of each cleaning chain (46);
a polishing driving wheel (48) positioned at the rear sides of the plurality of cleaning chain wheels (45) is fixedly arranged on each cleaning rotating shaft (44), a polishing belt (49) is arranged between the two polishing driving wheels (48), and a cleaning motor (50) connected with one cleaning rotating shaft (44) is fixedly arranged on the cleaning substrate (41);
the cleaning device is characterized in that an L-shaped air injection support (51) is fixedly arranged on the rear side face of the cleaning substrate (41), an air injection pipe (52) is fixedly arranged at the bottom of the air injection support (51), and a plurality of air nozzles (53) facing the bottom of the polishing belt (49) are arranged on the air injection pipe (52).
9. The underwater hull weld adsorption mobile detection robot according to claim 7, wherein the switching rotating assembly comprises a fixed gear ring (54) fixedly installed on the top of the main body (1) and positioned on the inner side of the cleaning rotating cylinder (38), a rotating motor (55) is fixedly installed on the top surface inside the cleaning rotating cylinder (38), and a rotating gear (56) meshed with the fixed gear ring (54) is fixedly installed on a rotating shaft of the rotating motor (55);
the switching gear ring (57) meshed with the rotary gear (56) is rotatably arranged at the opening of the walking switching circular groove (28), a switching cross plate (58) is fixedly arranged on the inner side surface of the switching gear ring (57), a switching driving rod (59) is fixedly arranged in the middle of the bottom surface of the switching cross plate (58), the bottom end of the switching driving rod (59) is fixedly connected with the top of the walking switching disc (35) coaxially, and four induction switches (60) which correspond to the directions of the four side surfaces of the main body (1) respectively and are positioned on the circular motion track of the rotary gear (56) are fixedly arranged on the top surface of the main body.
10. The underwater hull weld adsorption mobile detection robot according to claim 1, wherein a detection chute (61) is formed in the bottom of the main body (1), the detection barrel (10) is installed in the detection chute (61) in a vertically sliding mode, a detection telescopic chute (62) is formed in the top of the detection chute (61), a detection telescopic rod (63) is installed in the detection telescopic chute (62), and the telescopic end of the detection telescopic rod (63) is fixedly connected with the top of the detection barrel (10).
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| CN202311450471.8A CN117184380B (en) | 2023-11-03 | 2023-11-03 | Underwater ship weld joint adsorption mobile detection robot |
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| CN202311450471.8A CN117184380B (en) | 2023-11-03 | 2023-11-03 | Underwater ship weld joint adsorption mobile detection robot |
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